Nonholonomic control considering with input saturation for a mobile robot

Abstract

In this paper, we use the two wheeled mobile robots as kinematic model of nonholonomic systems. On the control of nonholonomic systems, there are many matters; namely, input saturation, external disturbance and robustness, etc. As to solve these matters, there exist a lot of papers. We address the input saturation problem because we guess that there appears to be influence on practical experiment. As solution, we propose the method using switch function, based on pseudo continuous exponential stabilizing controller for chained form. By our method, the deviations between state variables and fixed desired values can be exponentially stabilized and the inputs are prevented from being state of saturation. Simulation results are given to verify an effectiveness of the proposed method and experimental results show the validity.